I wouldn't stay anywhere else!!
Lahaina Inn Resort is a fabulous place!! I have been going there since I was in my teens. It's located in the center of the Island. So, it's far enough away from the crowds at the Square, but close enough that you don't have to drive forever to get to one end of the island or the other.
Everyone you meet at Lahaina is really friendly and the staff will go out of their way to get whatever you may need. It's only 2 stories, so there is no elevator involved and you can sit on your balcony and look at the Ocean all day long, if you want. I have never had a bad experience staying here. I highly recommend it!!